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<div class="title">vtk_model_sampling.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * uniform_sampling.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 25, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_UNIFORM_SAMPLING_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_UNIFORM_SAMPLING_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;vtkPolyData.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vtkTriangle.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;vtkSmartPointer.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vtkCellArray.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;vtkPLYReader.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;vtkPolyDataMapper.h&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;vtkTransform.h&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;vtkTransformFilter.h&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  {</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    uniform_deviate (<span class="keywordtype">int</span> seed)</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    {</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <span class="keywordtype">double</span> ran = seed * (1.0 / (RAND_MAX + 1.0));</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      <span class="keywordflow">return</span> ran;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    }</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    randomPointTriangle (<span class="keywordtype">double</span> a1, <span class="keywordtype">double</span> a2, <span class="keywordtype">double</span> a3, <span class="keywordtype">double</span> b1, <span class="keywordtype">double</span> b2, <span class="keywordtype">double</span> b3, <span class="keywordtype">double</span> c1, <span class="keywordtype">double</span> c2, <span class="keywordtype">double</span> c3, Eigen::Vector4f&amp; p)</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    {</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keywordtype">float</span> r1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (uniform_deviate (rand ()));</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordtype">float</span> r2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (uniform_deviate (rand ()));</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keywordtype">float</span> r1sqr = std::sqrt (r1);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keywordtype">float</span> OneMinR1Sqr = (1 - r1sqr);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keywordtype">float</span> OneMinR2 = (1 - r2);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      a1 *= OneMinR1Sqr;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      a2 *= OneMinR1Sqr;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      a3 *= OneMinR1Sqr;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      b1 *= OneMinR2;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      b2 *= OneMinR2;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      b3 *= OneMinR2;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      c1 = r1sqr * (r2 * c1 + b1) + a1;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      c2 = r1sqr * (r2 * c2 + b2) + a2;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      c3 = r1sqr * (r2 * c3 + b3) + a3;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      p[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (c1);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      p[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (c2);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      p[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (c3);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      p[3] = 0.f;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    randPSurface (vtkPolyData * polydata, std::vector&lt;double&gt; * cumulativeAreas, <span class="keywordtype">double</span> totalArea, Eigen::Vector4f&amp; p)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keywordtype">float</span> r = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (uniform_deviate (rand ()) * totalArea);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      std::vector&lt;double&gt;::iterator low = std::lower_bound (cumulativeAreas-&gt;begin (), cumulativeAreas-&gt;end (), r);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      vtkIdType el = <span class="keyword">static_cast&lt;</span>vtkIdType<span class="keyword">&gt;</span> (low - cumulativeAreas-&gt;begin ());</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordtype">double</span> A[3], B[3], C[3];</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      vtkIdType npts = 0;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      vtkIdType *ptIds = NULL;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      polydata-&gt;GetCellPoints (el, npts, ptIds);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keywordflow">if</span> (ptIds == NULL)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      polydata-&gt;GetPoint (ptIds[0], A);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      polydata-&gt;GetPoint (ptIds[1], B);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      polydata-&gt;GetPoint (ptIds[2], C);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      randomPointTriangle (A[0], A[1], A[2], B[0], B[1], B[2], C[0], C[1], C[2], p);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      uniform_sampling (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata, <span class="keywordtype">size_t</span> n_samples, <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp; cloud_out)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        polydata-&gt;BuildCells ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer &lt; vtkCellArray &gt;</a> cells = polydata-&gt;GetPolys ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordtype">double</span> p1[3], p2[3], p3[3], totalArea = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        std::vector&lt;double&gt; cumulativeAreas (cells-&gt;GetNumberOfCells (), 0);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordtype">size_t</span> i = 0;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        vtkIdType npts = 0, *ptIds = NULL;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordflow">for</span> (cells-&gt;InitTraversal (); cells-&gt;GetNextCell (npts, ptIds); i++)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          polydata-&gt;GetPoint (ptIds[0], p1);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          polydata-&gt;GetPoint (ptIds[1], p2);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          polydata-&gt;GetPoint (ptIds[2], p3);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          totalArea += vtkTriangle::TriangleArea (p1, p2, p3);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          cumulativeAreas[i] = totalArea;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (n_samples);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (n_samples);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; n_samples; i++)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          Eigen::Vector4f p (0.f, 0.f, 0.f, 0.f);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          randPSurface (polydata, &amp;cumulativeAreas, totalArea, p);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p[0]);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p[1]);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p[2]);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      uniform_sampling (std::string &amp; file, <span class="keywordtype">size_t</span> n_samples, <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp; cloud_out, <span class="keywordtype">float</span> scale = 1.f)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer &lt; vtkPLYReader &gt;</a> reader = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPLYReader&gt;::New</a> ();</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        reader-&gt;SetFileName (file.c_str ());</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer &lt; vtkPolyDataMapper &gt;</a> mapper = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyDataMapper&gt;::New</a> ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">if</span> (scale == 1.f)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          mapper-&gt;SetInputConnection (reader-&gt;GetOutputPort ());</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          mapper-&gt;Update ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransform&gt;</a> trans = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransform&gt;::New</a> ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          trans-&gt;Scale (scale, scale, scale);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer &lt; vtkTransformFilter &gt;</a> trans_filter = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkTransformFilter&gt;::New</a> ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          trans_filter-&gt;SetTransform (trans);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          trans_filter-&gt;SetInputConnection (reader-&gt;GetOutputPort ());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          trans_filter-&gt;Update ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          mapper-&gt;SetInputConnection (trans_filter-&gt;GetOutputPort ());</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          mapper-&gt;Update ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> poly = mapper-&gt;GetInput ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        uniform_sampling (poly, n_samples, cloud_out);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    getVerticesAsPointCloud (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPolyData&gt;</a> polydata, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> &amp; cloud_out)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      vtkPoints *points = polydata-&gt;GetPoints ();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (points-&gt;GetNumberOfPoints ());</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; points-&gt;GetNumberOfPoints (); i++)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordtype">double</span> p[3];</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        points-&gt;GetPoint (i, p);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p[0]);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p[1]);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (p[2]);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;}</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_UNIFORM_SAMPLING_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer&lt; vtkPolyData &gt;</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
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